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	1. Impulsive Control of the Passive compass-like biped Robot Based on Anti-phase Synchronization
	Zhenze Liu ,Yantao Tian,Changjiu Zhou,Peijie Zhang,Xiaoliang Huang
	Electrics, Communication and Autocontrol Technology 06 September 2007
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (0 B)

	Abstract:The paper focuses on the analysis of the stability of symmetric and asymmetric passive gaits using a simple nonlinear biped model based on the anti-phase synchronization control strategy and also continues the investigation into the control of the compass gait biped. A new impulsive control method for chaos suppression of this transformed two periodically forced pendulum system has been developed as well as the establishment of some applicable criteria of eventually exponentially stability. The analysis of the stability of the closed-loop system with different control parameters is completed. The simulation results show the effectiveness of the control strategy and the research results can be applied to the biped robot control theory based on the cyclical and systemic stability control strategy development
	TO cite this article:Zhenze Liu ,Yantao Tian,Changjiu Zhou, et al. Impulsive Control of the Passive compass-like biped Robot Based on Anti-phase Synchronization[OL].[ 6 September 2007] http://en.paper.edu.cn/en_releasepaper/content/14915


	2. Kinematics and Control of an omni-directional mobile microrobot for a micro-factory
	Li Jianghao,Li Zhenbo,Zhen Jiapin
	Electrics, Communication and Autocontrol Technology 15 May 2007
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (0 B)

	Abstract:This paper presents the Kinematics and control of an omni-directional mobile microrobot for micro-assembly in a micro-factory. The millimeters size microrobot is approximately 9 mm in length, 9 mm in width and 6 mm in height. It has three normal wheels which are connected with each other through a set of micro gears. Through a kind of special steering structure, the microrobot wheels can steer together with the same steering angles. A micro gripper is mounted on the top of the microrobot chassis, and can be turned with the front wheel synchronously. Through analyzing the rank of the kinematic matrix, the mobility freedom and steering freedom are calculated to demonstrate the omni-directional characteristic of the microrobot. Further, the microrobot and the micro gripper kinematic models are derived. Using these models, simulations show the relation between the microrobot movement situation and the control input. The microrobot is guided by an external vision system and controlled by a circuit board connected to the microrobot by flexible ultraminiature wires. Experiment results demonstrate the movement flexibility of the microrobot and the validity of the whole control system.
	TO cite this article:Li Jianghao,Li Zhenbo,Zhen Jiapin. Kinematics and Control of an omni-directional mobile microrobot for a micro-factory[OL].[15 May 2007] http://en.paper.edu.cn/en_releasepaper/content/12821


	3. Optimal Design of Wheel Size for an Omnidirectional Mobile Microrobot
	Li Jianghao,Li Zhenbo,Chen Jiapin
	Electrics, Communication and Autocontrol Technology 06 March 2007
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (0 B)

	Abstract:Proper wheel size can reduce heat-radiation of the micromotor for a microrobot. The optimal design of the wheel size for an omnidirectional mobile microrobot is based on dynamic analysis and simulation. The millimeters-sized microrobot has novel dual-wheel structures driven by the electromagnetic micromotors. The dynamic analysis of the dual-wheel considers the micromotor torque, the platform resistance and the bearing friction. Through analyzing the linear movement and the steering movement, the equations are derived to show the relation between the wheel size and the micromotor torque. With these equations, MATLAB simulation presents the reasonable wheel separation, width and radius. The experiment demonstrates the validity of the optimal design.
	TO cite this article:Li Jianghao,Li Zhenbo,Chen Jiapin. Optimal Design of Wheel Size for an Omnidirectional Mobile Microrobot[OL].[ 6 March 2007] http://en.paper.edu.cn/en_releasepaper/content/11292

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